#ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_OPTIONS_H
#define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_OPTIONS_H

#include <string>
#include <tuple>

#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/port.h"
#include "cartographer/mapping/proto/map_builder_options.pb.h"
#include "cartographer_ros/trajectory_options.h"

namespace cartographer_ros
{
    // Top-level options of Cartographer's ROS integration.
    struct NodeOptions
    {
        ::cartographer::mapping::proto::MapBuilderOptions map_builder_options;
        std::string map_frame;
        double lookup_transform_timeout_sec;
        double submap_publish_period_sec;
        double pose_publish_period_sec;
        double trajectory_publish_period_sec;
        bool publish_to_tf = true;
        bool publish_tracked_pose = false;
        bool use_pose_extrapolator = true;
    };

    NodeOptions CreateNodeOptions(::cartographer::common::LuaParameterDictionary *lua_parameter_dictionary);

    std::tuple<NodeOptions, TrajectoryOptions> LoadOptions(const std::string &configuration_directory,
                                                           const std::string &configuration_basename);
} // namespace cartographer_ros

#endif // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_OPTIONS_H
